/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "lcd.h"
#include "lcd_init.h"
#include "key.h"  
#include "Menu.h"
#include "PID.h"
#include "AS5600.h"
#include "FOC.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
MyKeyTypeDef myKeyInstance;// 在内存中分酝空间给MyKeyTypeDef 结构体实�??????
MyKeyTypeDef* MyKey = &myKeyInstance;// �?????? MyKey 指针指坑这个实例
MENU_PRMT prmt;
// MyKeyTypeDef* MyKey = &myKeyInstance; 

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
float Send_Data[2];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_TIM6_Init();
  MX_SPI1_Init();
  MX_TIM2_Init();
  MX_TIM7_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */
  LCD_Init();
  Key_Init(MyKey);
  Menu_PrmtInit(&prmt, MENU_MAX_NUM, MENU_MAX_PAGE);
  PID_Date_Init();//PID坂数初始�????
  Timer_PWM_Init();//定时器输出PWM
   

  LCD_Fill(0,0,LCD_W,LCD_H,BLACK);
  FOC_Init();
  Timer_Init();
  
  /*LCD初始化坂数显�??????*/
  // LCD_ShowString(30, 90, (uint8_t *)"->", WHITE, BLACK, 24, 0);  //�??????初光标显�??????
  // Draw_Circle(120,120,90,GREEN);
  // Draw_Circle(120,120,91,GREEN);
  // Draw_Circle(120,120,92,GREEN);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  // DMA_Printf("Hello World!");
	  // HAL_GPIO_TogglePin(My_LED_GPIO_Port, My_LED_Pin);
    // LCD_ShowIntNum(60,60,MyKey->KEY_count,1,RED,BLACK,24);
    // LCD_ShowIntNum(120,120,1,1,RED,BLACK,16);
    // LCD_ShowIntNum(120,120,1,1,RED,BLACK,16);
    // Key_Scan(MyKey);
    // LCD_ShowIntNum(60,60,MyKey->KEY_count,1,RED,BLACK,24);

    // HAL_GPIO_WritePin(LOGIC_GPIO_Port,LOGIC_Pin,GPIO_PIN_RESET);
    // LCD_ShowIntNum(150,60,prmt.Cursor,1,RED,BLACK,24);
    // LCD_ShowIntNum(150,30,MyKey->KEY_LONG_Press,3,RED,BLACK,24);
    // LCD_ShowIntNum(120,30,MyKey->KEY_State,1,RED,BLACK,24);
    // Menu_Display(GeneralSet,0,prmt.DispNum,prmt.Cursor);
    // HAL_GPIO_WritePin(LOGIC_GPIO_Port,LOGIC_Pin,GPIO_PIN_SET);

    LCD_ShowIntNum(150,60,L_SpeedPID.Ki,2,RED,BLACK,24);
    LCD_ShowIntNum(150,30,R_SpeedPID.Ki,2,RED,BLACK,24);
    // LCD_ShowIntNum(120,120,R_SpeedPID.Ki,2,RED,BLACK,24);
    LCD_ShowFloatNum1(120,120,this_angle,3,RED,BLACK,24);
	LCD_ShowFloatNum1(90,30,Target_Speed,3,RED,BLACK,24);
    // Send_Data[0] = Target_Speed;
    // Send_Data[1] = now_speed;
    // Print_Vofa_JustFloat(Send_Data,2);
     DMA_Printf("%f,%f\r\n",Target_Speed,real_speed);
    
    // LCD_ShowIntNum(120,30,MyKey->KEY_State,1,RED,BLACK,24);

    HAL_Delay(10);

	  // HAL_Delay(100);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
